kopia lustrzana https://github.com/Hamlib/Hamlib
Added Meade LX200 Protocol to Rotors
* Added new rotor module (18) for Meade telescope rotors * Implemented all needed rotor functions * Added README.md * Tested with DS-2000 Rotor with Autostar 494 and 506 serial cable * Tested on Linux (Debian) with rotctl and gpredictHamlib-3.3
andz
Nate Bargmann
rodzic
3027ca5f9a
commit
75228aa974
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@ -23,6 +23,7 @@ include $(TOP_PATH)/kenwood/Android.mk
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include $(TOP_PATH)/kit/Android.mk
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include $(TOP_PATH)/lowe/Android.mk
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include $(TOP_PATH)/m2/Android.mk
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include $(TOP_PATH)/meade/Android.mk
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include $(TOP_PATH)/pcr/Android.mk
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include $(TOP_PATH)/prm80/Android.mk
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include $(TOP_PATH)/racal/Android.mk
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@ -50,7 +50,7 @@ dnl Beware of duplication should a backend directory include both rig and
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dnl rotor definitions, e.g. "dummy". Optional backends will not be listed
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dnl here but will be added later, e.g. "winradio".
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BACKEND_LIST="adat alinco aor barrett dorji drake dummy flexradio icom icmarine jrc kachina kenwood kit lowe pcr prm80 racal rft rs skanti tapr tentec tuner uniden wj yaesu"
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ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 rotorez sartek spid ts7400 prosistel"
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ROT_BACKEND_LIST="amsat ars celestron cnctrk easycomm ether6 fodtrack gs232a heathkit m2 meade rotorez sartek spid ts7400 prosistel"
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dnl See README.release on setting these values
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# Values given to -version-info when linking. See libtool documentation.
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@ -787,6 +787,7 @@ android/Makefile
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prosistel/Makefile
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dorji/Makefile
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barrett/Makefile
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meade/Makefile
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hamlib.pc])
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AC_OUTPUT
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@ -350,6 +350,18 @@
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#define ROT_MODEL_PROSISTEL ROT_MAKE_MODEL(ROT_PROSISTEL, 1)
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/**
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* \def ROT_MODEL_MEADE
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* \brief A macro that returns the model number of the MEADE backend.
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*
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* The MEADE backen can be used with Meade telescope rotators like
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* DS-2000
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*/
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#define ROT_MEADE 18
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#define ROT_BACKEND_MEADE "meade"
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#define ROT_MODEL_MEADE ROT_MAKE_MODEL(ROT_MEADE, 1)
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/**
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* \typedef typedef int rot_model_t
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* \brief Convenience type definition for rotator model.
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@ -0,0 +1,12 @@
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LOCAL_PATH:= $(call my-dir)
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include $(CLEAR_VARS)
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LOCAL_SRC_FILES := meade.c
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LOCAL_MODULE := meade
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LOCAL_CFLAGS := -DHAVE_CONFIG_H
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LOCAL_C_INCLUDES := android include src
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LOCAL_LDLIBS := -lhamlib -Lobj/local/armeabi
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include $(BUILD_STATIC_LIBRARY)
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@ -0,0 +1,6 @@
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MEADESRC = meade.c meade.h
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noinst_LTLIBRARIES = libhamlib-meade.la
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libhamlib_meade_la_SOURCES = $(MEADESRC)
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EXTRA_DIST = README.md Android.mk
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@ -0,0 +1,45 @@
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# Meade Telescope Rotator Module
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This module interfaces Meade telescope rotator via the LX200 serial protocol.
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These rotators can easily be modified to carry antennas instead of telescopes.
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## Usage
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1. Set the telescope manually to show to north with 0 degree elevation
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1. Connect the Autosar and the serial cable with the telescope and control PC
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1. Turn on telescope rotator
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1. Press `Speed` on the Autosar to accept "Don't look into the sun" warning
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1. Press `Mode` a couple of times until the Autosar display shows `Object`
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1. Start `rigctl` or `rigctld` with the arguments `-m 1801 -s <Serial Interface>`
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Have Fun.
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### Hints
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1. The rotator has no lock on 360 degree azimuth. For example, if you go form 359 degree to 002 degree, it will go the short way. That means it is possible to make several rotations in the same directions. Please have a kind look on your cables and don't use the rotator unattended!
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2. If a new position gets sent to the rotor while it is in movement, it moves immediately to the new position, but stores the old one and moves again to the old one after the new position is reached. To avoid this, a `Stop all movement` command gets executed if a position update reaches the rotator while in movement. That can cause a choppy movement when going to a new position which is far away.
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## LX200 Protocol
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[2003 Protocol Verison](https://www.meade.com/support/LX200CommandSet.pdf)
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[2010 Protocol Verison](https://www.meade.com/support/TelescopeProtocol_2010-10.pdf)
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## Current Status
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The current status is ALPHA. It is tested with Meade DS-2000 with Autosar 494 (2003 Firmware) and Meade 506 i2c to RS232 interface cable, tested under Linux with rotctl and gpredict.
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### What works good:
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* `set_position` works for azimuth and elevation (0-360,0-90 degree), high frequent update (<2s) can cause sometimes unexpected behavior.
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* `get_position` works mostly fine, sometime the elevation gets not read properly
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* `init`, `cleanup`, `get_info` work as expected
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* `open` sends all setup commands needed for now
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* `close` stops all movement of the rotor
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* `meade_stop` stops fine
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* `park`, `reset` move the rotor to home position (north, elevation 0)
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### What works with some problems:
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* `move` works fine for elevation, but for azimuth it will sometimes move in the wrong direction caused by the short way movement.
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@ -0,0 +1,407 @@
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/*
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* Hamlib Meade telescope rotor backend - main file
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* Copyright (c) 2018 by Andreas Mueller (DC1MIL)
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <stdlib.h>
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#include <string.h> /* String function definitions */
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#include <unistd.h> /* UNIX standard function definitions */
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#include <math.h>
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#include <sys/time.h>
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#include <time.h>
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#include <hamlib/rotator.h>
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#include <num_stdio.h>
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#include "serial.h"
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#include "misc.h"
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#include "register.h"
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#include "meade.h"
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struct meade_priv_data {
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azimuth_t az;
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elevation_t el;
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struct timeval tv; /* time last az/el update */
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azimuth_t target_az;
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elevation_t target_el;
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};
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/**
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* Command list:
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* See https://www.meade.com/support/LX200CommandSet.pdf
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* and https://www.meade.com/support/TelescopeProtocol_2010-10.pdf for newer
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* Firmware Versions
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*
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* Not the full set of available commands is used, the list here shows
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* only the commands of the telescope used by hamlib
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*
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* All used Commands are supportet by Meade Telescopes with LX-200 protocol
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* (e.g. DS-2000 with Autostar) and should also work with the LX16 and
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* LX200GPS.
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* Tested only with DS-2000 and AutoStar 494 together with Meade 506 i2c to
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* Serial cable. But should also work with other AutoStars and the regular
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* Serial Cable.
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*
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* | Command | Atribute | Return value | Description |
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* --------------------------------------------------------------------
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* | :Me# | - | - | Moves telescope east |
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* | :Mn# | - | - | Moves telescope north |
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* | :Ms# | - | - | Moves telescope south |
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* | :Mw# | - | - | Moves telescope west |
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* | :AL# | - | - | Set to Land mode |
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* | :Sz DDD*MM# | D,M | 1' == OK | Set Target azimuth |
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* | :SasDD*MM# | s,D,M | 1' == OK | Set Target elevation |
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* | :Mw# | - | - | Moves telescope west |
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* | :Q# | - | - | Halt all slewing |
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* | :SoDD# | D | '1' == OK | Set minimal elevation |
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* | :ShDD# | D | '1' == OK | Set maximal elevation |
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* | :MA# | - | '0' == OK | GoTo Target |
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* | :D# | - | 0x7F == YES | Check if active movement |
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*
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*/
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/**
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* meade_transaction
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*
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* cmdstr - Command to be sent to the rig.
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* data - Buffer for reply string. Can be NULL, indicating that no reply is
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* is needed, but answer will still be read.
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* data_len - in: Size of buffer. It is the caller's responsibily to provide
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* a large enough buffer for all possible replies for a command.
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*
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* returns:
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* RIG_OK - if no error occurred.
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* RIG_EIO - if an I/O error occurred while sending/receiving data.
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* RIG_ETIMEOUT - if timeout expires without any characters received.
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*/
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static int meade_transaction (ROT *rot, const char *cmdstr,
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char *data, size_t *data_len, size_t expected_return_length)
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{
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struct rot_state *rs;
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int return_value;
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int retry_read = 0;
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rs = &rot->state;
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while(1) {
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serial_flush(&rs->rotport);
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if (cmdstr) {
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return_value = write_block(&rs->rotport, cmdstr, strlen(cmdstr));
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if (return_value != RIG_OK) {
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return return_value;
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}
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}
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/* Not all commands will send a return value, so use data = NULL if no
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return value is expected, Strings end with '#' */
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if (data != NULL) {
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memset(data,0,BUFSIZE);
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*data_len = read_string(&rs->rotport, data, expected_return_length + 1, "\n", strlen("\n"));
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if (*data_len < 0) {
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if (retry_read++ >= rot->state.rotport.retry) {
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return RIG_ETIMEOUT;
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}
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}
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else {
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return RIG_OK;
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}
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}
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else {
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return RIG_OK;
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}
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}
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}
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/*
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* Initialization
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*/
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static int meade_init(ROT *rot)
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{
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struct meade_priv_data *priv;
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priv = (struct meade_priv_data*)
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malloc(sizeof(struct meade_priv_data));
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if (!priv)
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return -RIG_ENOMEM;
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rot->state.priv = (void*)priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot->state.rotport.type.rig = RIG_PORT_SERIAL;
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priv->az = priv->el = 0;
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priv->target_az = priv->target_el = 0;
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return RIG_OK;
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}
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/*
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* Cleanup
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*/
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static int meade_cleanup(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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if (rot->state.priv)
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free(rot->state.priv);
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rot->state.priv = NULL;
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return RIG_OK;
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}
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/*
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* Opens the Port and sets all needed parametes for operation
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*/
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static int meade_open(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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/* Set Telescope to Land alignment mode to deactivate sloping */
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/* Allow 0-90 Degree Elevation */
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return meade_transaction(rot, ":AL#:So00#:Sh90#" , NULL, 0, 0);
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}
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/*
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* Closes the port and stops all movement
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*/
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static int meade_close(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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/* Stop all Movement */
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return meade_transaction(rot, ":Q#" , NULL, 0, 0);
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}
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/*
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* Sets the target position and starts movement
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*
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* az: Target azimuth
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* el: Target elevation
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*/
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static int meade_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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char cmd_str[BUFSIZE];
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char return_str[BUFSIZE];
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size_t return_str_size;
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float az_degrees, az_minutes, el_degrees, el_minutes;
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rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__,
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az, el);
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az_degrees = floor(az);
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az_minutes = (az - az_degrees) * 60;
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el_degrees = floor(el);
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el_minutes = (el - el_degrees) * 60;
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/* Check if there is an active movement, if yes, stop it if
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new target is more than 5 Degrees away from old target
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if not, don't accept new target*/
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meade_transaction(rot, ":D#", return_str, &return_str_size, 1);
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if(return_str_size > 0 && return_str[0] == 0x7F) {
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if(abs(az - priv->target_az) > 5 || abs(el - priv->target_el) > 5)
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meade_transaction(rot, ":Q#", NULL, 0, 0);
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else
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return RIG_OK;
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}
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priv->target_az = az;
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priv->target_el = el;
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num_sprintf(cmd_str, ":Sz %03.0f*%02.0f#:Sa+%02.0f*%02.0f#:MA#",
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az_degrees, az_minutes, el_degrees, el_minutes);
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meade_transaction(rot, cmd_str, return_str, &return_str_size, 3);
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/* '1' == Azimuth accepted '1' == Elevation accepted '0' == No error */
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if(return_str_size > 0 && strstr(return_str , "110") != NULL)
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return RIG_OK;
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else
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return RIG_EINVAL;
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}
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/*
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* Get position of rotor, simulating slow rotation
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*/
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static int meade_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
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{
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char return_str[BUFSIZE];
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size_t return_str_size;
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int az_degree, az_minutes, el_degree, el_minutes;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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meade_transaction(rot, ":GZ#:GA#", return_str, &return_str_size, 14);
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if(return_str_size > 13 && return_str[return_str_size-1] == '#') { /* '#' == EOS */
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az_degree = strtol(return_str, NULL, 10);
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az_minutes = strtol(return_str + 4, NULL, 10);
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el_degree = strtol(return_str + 8, NULL, 10);
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el_minutes = strtol(return_str + 11, NULL, 10);
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*az = dmmm2dec(az_degree, az_minutes, 0);
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*el = dmmm2dec(el_degree, el_minutes, 0);
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return RIG_OK;
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}
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else {
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return RIG_EINVAL;
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}
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}
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/*
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* Stops all movement
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*/
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static int meade_stop(ROT *rot)
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{
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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azimuth_t az;
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elevation_t el;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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meade_transaction(rot, ":Q#", NULL, 0, 0);
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meade_get_position(rot, &az, &el);
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priv->target_az = priv->az = az;
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priv->target_el = priv->el = el;
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return RIG_OK;
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}
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/*
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* Moves to Home Position
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*/
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static int meade_park(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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/* Assume home is 0,0 */
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meade_set_position(rot, 0, 0);
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return RIG_OK;
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}
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/*
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* Reset: Nothing to do exept parking
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*/
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static int meade_reset(ROT *rot, rot_reset_t reset)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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meade_park(rot);
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return RIG_OK;
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}
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/*
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* Movement to direction
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*/
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static int meade_move(ROT *rot, int direction, int speed)
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{
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struct meade_priv_data *priv = (struct meade_priv_data *)rot->state.priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rig_debug(RIG_DEBUG_TRACE, "%s: Direction = %d, Speed = %d\n", __func__, direction, speed);
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switch(direction) {
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case ROT_MOVE_UP:
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return meade_set_position(rot, priv->target_az, 90);
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case ROT_MOVE_DOWN:
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return meade_set_position(rot, priv->target_az, 0);
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case ROT_MOVE_CCW:
|
||||
return meade_set_position(rot, -180, priv->target_el);
|
||||
|
||||
case ROT_MOVE_CW:
|
||||
return meade_set_position(rot, 180, priv->target_el);
|
||||
|
||||
default:
|
||||
return -RIG_EINVAL;
|
||||
}
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
static const char *meade_get_info(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
return "Meade telescope rotator with LX200 protocol.";
|
||||
}
|
||||
|
||||
/*
|
||||
* Meade telescope rotator capabilities.
|
||||
*/
|
||||
|
||||
const struct rot_caps meade_caps = {
|
||||
.rot_model = ROT_MODEL_MEADE,
|
||||
.model_name = "LX200",
|
||||
.mfg_name = "Meade",
|
||||
.version = "0.1",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_ALPHA,
|
||||
.rot_type = ROT_TYPE_AZEL,
|
||||
|
||||
.port_type = RIG_PORT_SERIAL,
|
||||
.serial_rate_min = 9600,
|
||||
.serial_rate_max = 9600,
|
||||
.serial_data_bits = 8,
|
||||
.serial_stop_bits = 1,
|
||||
.serial_parity = RIG_PARITY_NONE,
|
||||
.serial_handshake = RIG_HANDSHAKE_NONE,
|
||||
.write_delay = 0,
|
||||
.post_write_delay = 200,
|
||||
.timeout = 400,
|
||||
.retry = 5,
|
||||
|
||||
.min_az = 0.,
|
||||
.max_az = 360.,
|
||||
.min_el = 0.,
|
||||
.max_el = 90.,
|
||||
|
||||
.priv = NULL, /* priv */
|
||||
|
||||
.rot_init = meade_init,
|
||||
.rot_cleanup = meade_cleanup,
|
||||
.rot_open = meade_open,
|
||||
.rot_close = meade_close,
|
||||
|
||||
.set_position = meade_set_position,
|
||||
.get_position = meade_get_position,
|
||||
.park = meade_park,
|
||||
.stop = meade_stop,
|
||||
.reset = meade_reset,
|
||||
.move = meade_move,
|
||||
|
||||
.get_info = meade_get_info,
|
||||
};
|
||||
|
||||
DECLARE_INITROT_BACKEND(meade)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "meade: _init called\n");
|
||||
|
||||
rot_register(&meade_caps);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* Hamlib Meade telescope rotor backend - main header
|
||||
* Copyright (c) 2018 by Andreas Mueller (DC1MIL)
|
||||
*
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef _MEADE_H
|
||||
#define _MEADE_H 1
|
||||
|
||||
#define BUFSIZE 128
|
||||
#define CR "\r"
|
||||
#define LF "\x0a"
|
||||
|
||||
extern const struct rot_caps meade_caps;
|
||||
|
||||
#endif /* _MEADE_H */
|
||||
|
|
@ -81,7 +81,7 @@ DEFINE_INITROT_BACKEND(celestron);
|
|||
DEFINE_INITROT_BACKEND(ether6);
|
||||
DEFINE_INITROT_BACKEND(cnctrk);
|
||||
DEFINE_INITROT_BACKEND(prosistel);
|
||||
|
||||
DEFINE_INITROT_BACKEND(meade);
|
||||
|
||||
/**
|
||||
* \def ROT_BACKEND_LIST
|
||||
|
|
@ -118,6 +118,7 @@ static struct
|
|||
{ ROT_ETHER6, ROT_BACKEND_ETHER6, ROT_FUNCNAMA(ether6) },
|
||||
{ ROT_CNCTRK, ROT_BACKEND_CNCTRK, ROT_FUNCNAMA(cnctrk) },
|
||||
{ ROT_PROSISTEL, ROT_BACKEND_PROSISTEL, ROT_FUNCNAMA(prosistel) },
|
||||
{ ROT_MEADE, ROT_BACKEND_MEADE, ROT_FUNCNAMA(meade) },
|
||||
{ 0, NULL }, /* end */
|
||||
};
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue